Abstract: Exemplary methods, apparatuses, and systems receive first and second sets of command tracks, each set including one or more command tracks and each command track directed to control a component of a robot. In response to detecting that a first command track within the first set is directed to control a first component of the robot to perform a first action and a second command track within the second set is directed to control the first component of the robot to perform a second action, the first and second command tracks are merged into a composite command track. The composite command track is executed, causing the first component of the robot to perform the first action while performing the second action.